#include <ros/ros.h>
#include "turtlesim/Pose.h"

//接收到订阅的消息后，会进入消息回调函数
void poseCallback(const turtlesim::Pose::ConstPtr& msg) {

    //将接收到的消息打印出来
    ROS_INFO("Turtle pose: x:%0.6f, y:%0.6f", msg->x, msg->y);
}

int  main(int argc, char** argv) {

    //初始化ROS节点
    ros::init(argc, argv, "pose_subscriber");

    //创建节点句柄
    ros::NodeHandle nh;

    //创建一个Subscriber，订阅名为/turtle1/pose的topic，注册回调函数poseCallback
    ros::Subscriber pose_subscriber = nh.subscribe("/turtle1/pose",  10,  poseCallback);

    //循环等待回调函数
    ros::spin();
    return 0;
}